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Indoor positioning fusion algorithm

An indoor positioning and fusion algorithm technology, applied in specific environment-based services, short-distance communication services, wireless communication and other directions, can solve problems such as difficulty in precise positioning, wireless signal multipath effects, and inability to meet positioning needs, and achieve positioning. accurate effect

Active Publication Date: 2020-04-28
CETC SATELLITE NAVIGATION OPERATION SERVICE
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  • Abstract
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AI Technical Summary

Problems solved by technology

[0005] Due to the complex indoor environment, wireless signals are prone to interference such as multipath effects, and it is difficult to achieve accurate positioning with a single technical means
[0006] The applicant proposed "A Bluetooth-Based Indoor Positioning System and Method" (201711238640.6) in 2017. In practical applications, as the indoor environment becomes increasingly complex, it can no longer meet the positioning needs

Method used

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  • Indoor positioning fusion algorithm

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Embodiment approach

[0050] Step A. Obtain all Bluetooth receiving tags and corresponding signal strengths that receive the Bluetooth signals sent by the terminal.

[0051] The terminal sends broadcast information with a strength of 0dBm at a fixed frequency (such as 5Hz); the Bluetooth receiving tag sends the received broadcast information, together with ID and signal strength, to the location management server, and the location management server filters the information to generate the following real-time vector: (ID1, RSSI1), (ID2, RSSI2), ..., (IDn, RSSIn),

[0052] Among them, n is the number of Bluetooth receiving tags, IDm (1<=m<=n) is the identification code of the mth Bluetooth receiving tag, and RSSIm (1<=m<=n) is the number received by the mth Bluetooth receiving tag. The arithmetic mean of the signal strength of the terminal. If the Bluetooth receiving tag whose identification code is IDm has not received the broadcast information of the terminal, RSSIm is set to -200dBm.

[0053] Step...

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Abstract

The invention discloses an indoor positioning fusion algorithm, and relates to an indoor positioning technology, in particular to a method for carrying out comprehensive positioning according to Bluetooth signals, inertial navigation data and geomagnetic data. A terminal sends a Bluetooth signal at regular time, and screens a Bluetooth receiving label through a game theory method according to theinertial navigation positioning position; and after fingerprint matching is obtained, the fingerprint combination is screened according to the inertial navigation positioning position and the geomagnetic positioning position, a Bluetooth positioning position is obtained according to the screened fingerprint combination, and a final positioning point is obtained according to the inertial navigationpositioning position and the Bluetooth positioning position. By adopting the method provided by the invention, the Bluetooth receiving tag interfered by the multipath effect can be effectively deleted, and only the normally received Bluetooth receiving tag is selected for fingerprint matching; the final positioning point is comprehensively corrected by the Bluetooth positioning position and the inertial navigation positioning position, and several positioning technologies compensate each other, so that the positioning is accurate.

Description

technical field [0001] The invention relates to indoor positioning technology, specifically a method for comprehensive positioning based on bluetooth signals, inertial navigation data and geomagnetic data. Background technique [0002] Obtaining the location information of the target is very important in many fields, and the positioning technology has attracted more and more people's attention and research. At present, mature positioning services are limited to outdoor scenarios. Satellite positioning systems such as GPS, Beidou and other GNSS have been able to better solve outdoor positioning problems. However, the strength and quality of satellite signals decline rapidly in indoor and other sheltered environments. The indoor signal quality and strength of the terrestrial cellular mobile network are far superior to satellite systems, but the positioning accuracy of the mobile cellular network is poor, on the order of tens of meters to hundreds of meters. [0003] In some s...

Claims

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Application Information

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IPC IPC(8): H04W4/33H04W4/80H04W64/00
CPCH04W4/33H04W4/80H04W64/006
Inventor 梁山清李恩宁刘斌刘荣斌葛红志李博王珏王晓玲冯富元尹超李瑞穆红显王学萍叶鲜
Owner CETC SATELLITE NAVIGATION OPERATION SERVICE
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